MotionProfileStatus

class phoenix5.MotionProfileStatus

Bases: pybind11_object

Motion Profile Status This is simply a data transer object.

property activePointValid

True if the active trajectory point is not empty, false otherwise. The members in activePoint are only valid if this signal is set.

property btmBufferCnt

The number of points in the low level Talon/Victor buffer.

property hasUnderrun

Set if isUnderrun ever gets set. Can be manually cleared by ClearMotionProfileHasUnderrun() or automatically cleared by StartMotionProfile(). @see clearMotionProfileHasUnderrun()

property isLast

True if the active trajectory point is the last point of the profile

property isUnderrun

This is set if Talon/Victor needs to shift a point from its buffer into the active trajectory point however the buffer is empty. This gets cleared automatically when is resolved.

property outputEnable

The current output mode of the motion profile executer (disabled, enabled, or hold). When changing the set() value in MP mode, it’s important to check this signal to confirm the change takes effect before interacting with the top buffer.

property profileSlotSelect0

The selected PID[0] profile slot of current profile

property profileSlotSelect1

The selected auxiliary PID[1] profile slot of current profile

property timeDurMs

The applied duration of the active trajectory point

property topBufferCnt

The number of points in the top trajectory buffer.

property topBufferRem

The available empty slots in the trajectory buffer.

The robot API holds a “top buffer” of trajectory points, so your applicaion can dump several points at once. The API will then stream them into the Talon’s low-level buffer, allowing the Talon to act on them.